[UPD] Decouple LiDAR data from DR-SPAAM module #1
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MrKeith99
commented
Jun 6, 2024
| @@ -481,8 +490,10 @@ void multiple_sensor_person_tracking::SobitEduPersonTracker::onInit() { | |||
| cloud_scan_.reset(new PointCloud()); | |||
| marker_array_.reset(new visualization_msgs::MarkerArray); | |||
| following_position_.reset( new multiple_sensor_person_tracking::FollowingPosition ); | |||
| scan_msg_.reset( new sensor_msgs::LaserScan ); | |||
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| sub_scan_ = nh_.subscribe(pnh_.param<std::string>( "scan_topic_name", "/scan"), 1, &SobitEduPersonTracker::scan_callback, this); | |||
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Scanデータをmessage_filtersとしてsubcribeする必要があるのではないか？
@Jiahao9
| @@ -600,8 +610,10 @@ void multiple_sensor_person_tracking::SobitEduPersonTrackerId::onInit() { | |||
| marker_array_.reset(new visualization_msgs::MarkerArray); | |||
| no_exists_marker_array_.reset(new visualization_msgs::MarkerArray); | |||
| following_position_.reset( new multiple_sensor_person_tracking::FollowingPosition ); | |||
| scan_msg_.reset( new sensor_msgs::LaserScan ); | |||
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| sub_scan_ = nh_.subscribe(pnh_.param<std::string>( "scan_topic_name", "/scan"), 1, &SobitEduPersonTracker::scan_callback, this); | |||
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Launch上でScanのTopicを記入できるようにした方がいいかも
@Jiahao9
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もし，基本的に/scanというトピック名が変わらないのであれば，そのままでオッケー
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トラッキングする前に、/scan データ前処理する可能性はなくはないので、Launchファイルに追加します．
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paramファイルでトピック名を変更できるようしました。
このリクエストをマージしたあと、また新しくPull をリクエストしたいと思います
…nd Odometry topics
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